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Overview

The pr2_controllers stack has the components which must run in the realtime loop of the PR2, components which communicate with the realtime controllers, and a few supporting packages. Realtime controllers run in the pr2_controller_manager at a guaranteed update rate and are used for moving the mechanism and triggering sensing components. The supporting nodes provide a more user-friendly interface to the realtime components, often providing notification on success or failure of commands.

A full set of controllers and supporting nodes has been configured to come up on the PR2 by default. See pr2/Tutorials for instruction on how to use them.